CN114922488B - Automatic control method for intelligent parking garage - Google Patents

Automatic control method for intelligent parking garage Download PDF

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Publication number
CN114922488B
CN114922488B CN202210776612.4A CN202210776612A CN114922488B CN 114922488 B CN114922488 B CN 114922488B CN 202210776612 A CN202210776612 A CN 202210776612A CN 114922488 B CN114922488 B CN 114922488B
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vehicle
parking
task
vehicles
taking
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CN114922488A (en
Inventor
张士勇
夏晓华
李登峰
郭咏
刘佳琪
王健
董安国
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Shaanxi Mic High New Technology Industrial Group Co ltd
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Shaanxi Mic High New Technology Industrial Group Co ltd
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    • EFIXED CONSTRUCTIONS
    • E04BUILDING
    • E04HBUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
    • E04H6/00Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
    • E04H6/42Devices or arrangements peculiar to garages, not covered elsewhere, e.g. securing devices, safety devices, monitoring and operating schemes; centering devices
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60LPROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/10Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
    • B60L53/14Conductive energy transfer
    • B60L53/16Connectors, e.g. plugs or sockets, specially adapted for charging electric vehicles
    • EFIXED CONSTRUCTIONS
    • E04BUILDING
    • E04HBUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
    • E04H6/00Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
    • E04H6/08Garages for many vehicles
    • E04H6/12Garages for many vehicles with mechanical means for shifting or lifting vehicles
    • E04H6/30Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in horizontal direction only
    • E04H6/36Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in horizontal direction only characterised by use of freely-movable dollies
    • EFIXED CONSTRUCTIONS
    • E04BUILDING
    • E04HBUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
    • E04H6/00Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
    • E04H6/42Devices or arrangements peculiar to garages, not covered elsewhere, e.g. securing devices, safety devices, monitoring and operating schemes; centering devices
    • E04H6/422Automatically operated car-parks
    • GPHYSICS
    • G16INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
    • G16YINFORMATION AND COMMUNICATION TECHNOLOGY SPECIALLY ADAPTED FOR THE INTERNET OF THINGS [IoT]
    • G16Y10/00Economic sectors
    • G16Y10/80Homes; Buildings
    • GPHYSICS
    • G16INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
    • G16YINFORMATION AND COMMUNICATION TECHNOLOGY SPECIALLY ADAPTED FOR THE INTERNET OF THINGS [IoT]
    • G16Y40/00IoT characterised by the purpose of the information processing
    • G16Y40/30Control
    • G16Y40/35Management of things, i.e. controlling in accordance with a policy or in order to achieve specified objectives
    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02TCLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10Technologies relating to charging of electric vehicles
    • Y02T90/12Electric charging stations

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  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Computing Systems (AREA)
  • Business, Economics & Management (AREA)
  • General Business, Economics & Management (AREA)
  • Mechanical Engineering (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Accounting & Taxation (AREA)
  • Development Economics (AREA)
  • Economics (AREA)
  • Management, Administration, Business Operations System, And Electronic Commerce (AREA)

Abstract

The invention belongs to the technical field of intelligent control of motor vehicle parking garages, and relates to an automatic control method of an intelligent parking garages, which is mainly completed by an intelligent control system formed by combining an industrial personal computer of each device of the intelligent parking garages with a computer, and specifically comprises two aspects of computer scheduling and specific workflow, wherein the aspect of computer scheduling comprises layering of tasks received by the whole intelligent control system in the computer, decomposing and refining of the tasks and controlling the devices based on the layers, and the aspect of the specific workflow is the use and the workflow of the whole intelligent parking garages under the control of the intelligent control system; the device has the advantages of high operation speed, high efficiency, reliable principle and simple application.

Description

Automatic control method for intelligent parking garage
Technical Field
The invention belongs to the technical field of intelligent control of motor vehicle parking garages, and relates to an automatic control method of an intelligent parking garages.
Background
With the rapid development of economy and continuous progress of technology, the number of motor vehicles is increased rapidly, and the shortage of parking spaces becomes one of the problems to be solved urgently in China. In order to alleviate the difficult phenomenon of parking, current automatic management and control system of intelligent garage parking can realize intelligent car getting and parking through carrying sweep temporary storage device, intelligent car moving device and intelligent charging device, has promoted parking space and parking efficiency to reached the effect that the garage parking electric motor car can intelligent charge on this basis. Practical mechanical structure and reasonable intelligent control system are the most important two aspects of efficient operation of intelligent parking garage. On the basis of the existing mechanical structure, how to design an intelligent control system to better improve the operation efficiency of the intelligent parking garage is a key that the automatic control system of the intelligent parking garage can be effectively popularized.
Through the search and analysis of the inventor, a corresponding control method of an automatic control system of an intelligent parking garage is not disclosed in the prior art. Therefore, the intelligent parking garage automatic control method can enable the intelligent parking garage to operate efficiently.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, and designs and provides an automatic control method for an intelligent parking garage, which solves the problem that the intelligent parking garage cannot operate efficiently due to the lack of the automatic control method for the intelligent parking garage in the related technology of the parking garage.
In order to achieve the above purpose, the automatic control method for the intelligent parking garage provided by the invention specifically comprises two aspects of computer scheduling and specific workflow:
all carry sweep temporary storage device, AGV dolly and fill all install the industrial computer in intelligent garage parking, through the combination of the industrial computer and the computer of each device, form an intelligent control system, the aspect of computer dispatch is accomplished by intelligent control system, and wherein the aspect of computer dispatch includes:
(A1) The tasks received by the whole intelligent control system are processed in a layering manner in the computer, and the tasks are divided into four layers: the first layer is a task layer, and the computer divides the task into a reserved vehicle taking task, a reserved vehicle storing task, an AGV vehicle charging task, a vehicle carrying plate delivering task and a vehicle carrying plate taking task in the task layer; the second layer is a task decomposition layer, and the computer decomposes the task of the task layer into subtasks at the task decomposition layer; the third layer is a subtask refinement layer, further refines subtasks through an algorithm of a computer, and information of command execution is completed; the fourth layer is a command execution layer, at which the computer issues commands to the device to execute, and if the commands are issued to the AGV, the commands need to be combined with a specific path.
(A2) Dividing the whole intelligent parking garage into four parking spaces consisting of three parallel parking spaces and one vertical parking space, wherein the parallel parking spaces refer to three parking spaces parallel to a transverse channel in each parking garage unit, the vertical parking spaces are parking spaces perpendicular to the transverse channel, each intelligent parking garage at least has one transverse channel and one longitudinal channel, other channels except the transverse longitudinal channel directly connected with an entrance divide the whole intelligent parking garage into a plurality of warehouse areas, the transverse channels are channels perpendicular to the length direction of the garage, and the longitudinal channels are channels parallel to the length direction of the garage.
(A3) The method is characterized in that tracks in the intelligent parking garage are clear, two tracks are arranged in each transverse longitudinal channel, other longitudinal channels except the longitudinal channel directly connected with the entrance can be used as temporary channels, only one track is arranged in the temporary channels, the temporary channels can be used as channels in traffic congestion periods, and the transportation pressure in the parking garage is reduced.
(A4) Storing and changing the objects and states of related commands, wherein the objects comprise AGV trolleys, vehicle carrying boards, parking spaces, temporary storage devices of the vehicle carrying boards and paths; the states refer to states of objects, including a trolley, a state (busy, idle, stopped), a trolley, an operating state (moving, stopped), a trolley, a vehicle-carrying state (vehicle-carrying, empty), a vehicle-carrying plate, a state (vehicle-carrying, empty), a vehicle-carrying plate, an operating state (moving, stopped), a parking space, a state (empty, selected, used), a vehicle-carrying plate temporary storage device, a state (idle, loaded, unloaded); state (idle, used, blocked).
(A5) Defining task layer tasks, decomposing the task layer tasks, and decomposing the tasks into the following subtasks:
(a) Decomposing the reserved vehicle taking task into the following steps:
(a1) Obtaining a vehicle number and a vehicle taking time from a mobile phone platform end, and putting the vehicle number and the vehicle taking time into a vehicle taking queue;
(a2) Selecting vehicles from the vehicle picking queue according to the vehicle picking time requirement, and entering into vehicle picking preparation;
(a3) Obtaining the position and difficulty of a vehicle storage unit, and selecting the number of AGV trolleys;
(a4) Selecting n AGV carts closest to the target unit position to go to the target unit position;
(a5) Taking out the target vehicle at the target unit position through matching to obtain a driving path;
(a6) The obstacle can be avoided on the road, the AGV trolley is controlled to send the vehicle carrying plate and the vehicle to the exit, and the AGV trolley drops the vehicle carrying plate;
(a7) And giving the vehicle to the customer, and collecting the payment by scanning the code to finish the vehicle taking process.
(B) Decomposing the reserved parking task into the following steps:
(b1) Obtaining a vehicle number, recording the warehousing time, and putting the vehicle number into a vehicle parking queue;
(b2) The method comprises the steps of obtaining an idle parking space, uploading a license plate at a junction of a vehicle, verifying license plate numbers, entering a parking preparation and timing;
(b3) Obtaining the position of a vehicle storage unit, obtaining a driving path and executing a storage task;
(b4) Controlling an AGV trolley to be sent to a unit according to a travelling path;
(b5) Entering a parking space, finishing parking, and resetting the difficulty of each parking space of the unit;
(b6) And releasing the AGV trolley to be in an idle state, adding the { idle trolley } set, and arranging an AGV trolley parking area according to a strategy.
(C) Decomposing the AGV trolley charging task into the following steps:
the AGV dolly can guarantee 24 hours incessant operation electric quantity, arranges to charge at night, or, can charge at idle time when the AGV dolly electric quantity is less than 30% to suitably increase AGV dolly quantity redundancy.
(D) Decomposing the task of carrying the vehicle board and taking the vehicle board into the following steps:
(d1) The AGV small vehicle carries the taken vehicle to enter the junction, the vehicle is driven by a driver to leave the vehicle carrying plate, and the AGV small vehicle and the vehicle carrying plate are left;
(d2) Judging the directions of the trolley and the vehicle carrying plate, and if a vehicle storing task and a vehicle taking task exist next, executing the vehicle storing task by using the AGV trolley and the vehicle carrying plate which are left at the junction; if no parking task exists next, but the subsequent vehicle taking task needs to occupy the junction, the position of the subsequent vehicle taking task needs to be vacated, and the AGV trolley is scheduled to send the vehicle carrying plate to the vehicle carrying plate temporary storage device for carrying plate storage operation; if the vehicle taking task is not available, only the vehicle storing task is available, the AGV trolley needs to be scheduled to go to the vehicle carrying board temporary storage device to take the vehicle carrying board, and the vehicle carrying board is lifted to enter the vehicle storing junction to wait for the next vehicle to be stored.
(D3) Scheduling execution of a board storage task and a board taking task of the car carrying board temporary storage device, when the board taking task exists, if the car carrying board temporary storage device is empty, enabling the car carrying board temporary storage device to enter an idle waiting state until the board storage task exists, and if the car carrying board temporary storage device is not empty, executing the board taking task and subtracting 1 from the number of boards owned by the car carrying board temporary storage device; when the board storage task exists, if the board carrying temporary storage device is full, the board carrying temporary storage device enters an idle waiting state until the board taking task exists, and if the board carrying temporary storage device is not full, the board storage task is executed and the number of boards owned by the board carrying temporary storage device is increased by 1.
(A6) Defining subtask refinement layer and making the following strategies for realization of subtasks:
(e) The value of ' vehicle ' difficulty ' is obtained through the difficulty of vehicle access, when the vehicle is stored in the unit, the ' vehicle ' difficulty ' is initialized to be 1, the position of the vehicle stored in the unit is indicated by ' vehicle ' position ', the parallel parking spaces in one unit are numbered 1,2 and 3 from inside to outside, the number of the vertical parking space is 4, if the ' vehicle ' position ' is 2, the ' vehicle ' difficulty ' value of the vehicle with the unit ' vehicle ' position ' being 1 is added with 1, if the ' vehicle ' position ' is 3, the ' vehicle ' difficulty ' with the unit ' vehicle ' position ' being 1 or 2 is added with 1.
(F) And calculating the distance between the idle trolley and the vehicle taking position.
(G) The number of AGV carts is selected to assist, the number of carts to be dispatched can be obtained through 'vehicle.difficulty', the corresponding nearest idle AGV cart set is obtained through the distance sequencing of idle AGV carts and the cart taking positions, and if vehicles are blocked outside the cart to be taken, the vehicles blocked outside need to be moved out firstly, so that tasks can be completed.
(H) Taking a vehicle in a unit comprises the following steps:
(h1) The method comprises the steps of obtaining coordinates of a vehicle taking position, calculating the number of auxiliary vehicles, if the number of the auxiliary vehicles is 1, dispatching the vehicles to enter a vehicle taking parking space, lifting a vehicle carrying plate and a vehicle leaving unit, and finishing vehicle taking;
(h2) If the number of the auxiliary trolleys is not 1, enabling the trolley b to enter an auxiliary parking space, wherein the auxiliary parking space refers to a parking space for blocking the parking space of the picking up vehicle, if the adjacent unit is provided with a vacancy, enabling the trolley b to lift the carrying plate and the vehicle on the auxiliary parking space to enter the adjacent unit, enabling the trolley a to enter the picking up vehicle and lift the carrying plate and the vehicle on the auxiliary unit to enter a pause parking space, enabling the trolley a to enter the picking up vehicle and lift the carrying plate and the vehicle to leave the unit, and if the trolley is in the pause parking space at the moment, enabling the trolley on the pause parking space to return to the original unit and placing the lifted vehicle back to the original unit, and if the adjacent unit is provided with a vacancy, completing the picking up vehicle, and if the picking up vehicle is in the parking space of the 1, adjusting three trolleys, respectively warehousing the 1,2 and 3,2 to the opposite passage and one side of the passage, waiting, and after the vehicle on the 1, the 3 and 3 th parking space are reserved, and warehousing are carried out according to the parking space; if the vehicle is just a vehicle with the No. 2 parking space, two AGV trolleys are adjusted to be respectively put into a warehouse with the No. 2 parking space and a warehouse with the No. 3 parking space, so that the AGV trolleys move the vehicle with the No. 3 parking space to the opposite passage for waiting, and after the No. 2 trolley is moved, the No. 3 AGV trolleys are put into the warehouse.
(H3) The vehicle taking sequence is determined according to the reservation time of a user, the reservation is divided into time periods 1, 2,3 and 4, and the vehicle taking sequence principle in the first reservation time period is as follows: vehicles with the 3 # and the 4 # are the first reservation priority, vehicles with the 1 # and the 2 # are the secondary reservation priority, the sequence of taking the vehicles is ordered according to the distance from the parking space to the exit, and the order of the distance is the front. In the reservation time periods 2,3 and 4, the sequencing principle of taking vehicles is as follows: the vehicles with the number 3 and the number 4 and the original number 2 in the unit reserved with the number 3 in the first time period, the vehicles with the number 3 and the number 2 reserved and the original number 1 in the unit reserved with the number 3 are the first reservation priority, the blocked vehicles are the secondary reservation priority, the sequence of taking the vehicles is ordered according to the distance between the vehicle position and the entrance, and the sequence of taking the vehicles is ordered in the front.
(I) When the vehicle is stored in the unit, the vehicle is stored according to the sequence of storing the 1 or 4 bit and then storing the 2 or 3 bit, and the average vehicle number is obtained to be distributed to each unit as evenly as possible.
(A7) The method comprises the steps that the use of path nodes is standardized at a command execution layer, a garage is formed by a plurality of path nodes, in order to avoid collision, before entering the next path, the path needs to be judged whether to be usable or not at the nodes, when the path and the nodes are used, a use state needs to be set, and after the use is finished, the use state needs to be cleared; when two AGV dolly are in opposite directions, can in meeting node department, the unavailable state of next node route appears, borrow the AGV dolly of road and should initiatively dodge, empty AGV dolly should initiatively dodge, is following two kinds of routes that the computer was deposited:
(j) The entrance and exit positions and the library position information form two starting points of a path, and the entrance and exit path is only the inversion of the starting points.
(J1) The longitudinal channel of the passageway reaches the rail intersection of each transverse channel, the intersection reaches the warehouse-in intersection through the transverse channel, the warehouse-in intersection transversely moves for warehouse-in, the intersection reaches the warehouse-in intersection to stop stably, and the vehicle is put down.
(J2) The first transverse channel of the passageway reaches the transverse and longitudinal intersections, the transverse and longitudinal intersections transversely move into the transverse channel intersections, the transverse channel longitudinally moves to the warehouse-in intersections, and the warehouse-in intersections transversely move into warehouse.
Wherein the specific workflow comprises the following steps:
(B1) The user inputs vehicle information to reserve parking through the mobile phone platform, the intelligent control system reserves parking spaces, the parking is selectively confirmed in the mobile phone platform, and the intelligent control system allocates and stores the parking spaces; or the user inputs the vehicle related information through the mobile phone service platform to reserve parking, then the parking space is directly selected, and the mobile phone service platform transmits the selected parking space to the intelligent management control system for storage;
(B2) The intelligent control system judges whether an AGV trolley is required to be conveyed to a junction between an entrance and a exit according to information input on a mobile phone platform of a user, after the user conveys the vehicle to the junction of the intelligent parking garage, a worker stops the vehicle on the vehicle carrying plate so that the front two tires of the vehicle enter a tire limiting pit until the vehicle is completely stopped stably, and a hand brake is pulled up to prepare the vehicle for warehouse entry;
(B3) The intelligent control system acquires the charging requirement of a user through the mobile phone platform, if the vehicle has the charging requirement, a worker is reminded to take a connecting component and a switching component, the connecting component is formed by connecting a charging gun, a connecting wire and a plug in sequence, the switching component is formed by connecting a first socket and a second socket electrically and is fixed on a panel, the switching component can be clamped on a vehicle carrying board through a clamping interface arranged on the vehicle carrying board, the worker clamps the switching component on the clamping interface of the vehicle carrying board, the charging gun at one end of the connecting component is inserted into a vehicle charging port, and the plug at the other end of the connecting component is inserted into the first socket, so that the vehicle is ready for charging;
(B4) After calculation of an intelligent control system, generating target parking space position information, wherein the generated position information contains a unit where a target parking space is located and a parking space number, the intelligent control system schedules an AGV trolley to transport vehicles on a vehicle carrying plate and the vehicle carrying plate to a designated parking space in a parking garage through transverse and longitudinal running and mutual switching according to the position information, so that the AGV trolley follows a parking rule in a parking process, stores vehicles according to the sequence of 1 or 4 bits and 2 or 3bits, and arranges the vehicles with charging requirements to a special charging parking space for parking, if the parking space except the temporary storage plate temporary storage device and the temporary channel in the parking garage is full, the vehicles are parked on the parking space arranged in the temporary lane, and if the temporary channel is full, the vehicles are parked on the parking space of the unit where the temporary storage plate temporary storage device is located; the intelligent control system controls the AGV trolley to enable the vehicle carrying plate to fall to the ground through a lifting device on the trolley, controls the AGV trolley to leave a storage position after the vehicle carrying plate falls to the ground, judges the direction of the empty AGV trolley according to information received from the mobile phone platform, and the empty AGV trolley enters a certain storage position to wait or store the trolley according to a command issued by the intelligent control system;
(B5) After a vehicle with a charging requirement is parked in a special charging parking space, the intelligent control system enables a charging pile wiring plug connected with the charging pile to be inserted into a second socket clamped on a vehicle carrying board by controlling an industrial personal computer on the charging pile, the intelligent control system can make a decision when the charging pile is instructed to start charging according to the charging requirement of the vehicle, after the charging is completed, the charging pile wiring plug connected with the charging pile is pulled out of the second socket, if the charging parking space is parked but the vehicle which is not charged is still present, the intelligent control system controls the charged vehicle to move to a storage position without the charging pile, so that the vehicle to be charged can move into the storage position for charging;
(B6) The intelligent control system calculates according to the current transportation condition of the garage, so that vehicles can reach the junction of the entrance and the exit in time at the time of taking vehicles reserved by a user, the specific time of taking each vehicle out of the garage is given on the mobile phone platform, when the vehicles are taken, the intelligent control system controls the AGV trolley to lift the vehicle carrying plate through the lifting component under the vehicle carrying plate of the vehicles needing to be taken away, the vehicle carrying plate and the vehicles on the vehicle carrying plate are conveyed to the exit of the garage, the AGV trolley follows the step of taking the vehicles in the process of taking the vehicles, the user drives the vehicles out of the garage, and the connecting component and the switching component are taken away for charged vehicles and staff;
(B7) The intelligent control system regulates and controls the AGV trolley to send the vehicle carrying plate to the temporary storage device of the vehicle carrying plate or store the vehicle according to the requirement of the follow-up vehicle storing and taking task.
Compared with the prior art, the invention has the following advantages: (1) The operation efficiency of the intelligent parking garage is effectively improved, and the intelligent parking garage is convenient to popularize and popularize; (2) Considering user groups with different ages and living habits, parking, taking and charging can be reserved through a mobile phone platform, and also can be reserved through staff offline, and the reservation of the users on the parking, taking and charging realizes the advanced preparation of the internal transportation of the intelligent parking garage, so that the calculation burden of a computer is greatly reduced, the working efficiency of the intelligent parking garage is improved, and the parking and charging are more convenient and faster; (3) The charging timing can be realized through computer scheduling, and electricity consumption peaks are avoided under certain conditions, so that electricity consumption cost is saved; the vehicle after the charging is completed can be moved into a parking space without a charging pile through computer dispatching, and the vehicle to be charged is moved into the charging position; plays a positive role in the national advocated development of new energy vehicles, urban parking space short-circuiting plates, urban environmental protection and smart city construction.
Drawings
Fig. 1 is a process flow block diagram of a specific workflow of an automatic control method of an intelligent parking garage according to the present invention.
Fig. 2 is a schematic diagram of a unit according to the present invention.
Fig. 3 is a flow chart of the task of the access vehicle junction according to the present invention.
Fig. 4 is a flow chart of accessing a carrier plate by the temporary carrier plate storage device according to the present invention.
Fig. 5 is a flow chart of an in-unit pick-up task according to the present invention.
Detailed Description
The technical scheme of the invention is further described below with reference to the accompanying drawings and specific embodiments.
Example 1
The embodiment relates to an automatic control method of an intelligent parking garage, which specifically comprises two aspects of computer scheduling and specific workflow:
all carry sweep temporary storage device, AGV dolly and fill all install the industrial computer in intelligent garage parking, through the combination of the industrial computer and the computer of each device, form an intelligent control system, the aspect of computer dispatch is accomplished by intelligent control system, and wherein the aspect of computer dispatch includes:
(A1) The tasks received by the whole intelligent control system are processed in a layering manner in the computer, and the tasks are divided into four layers: the first layer is a task layer, and the computer divides the task into a reserved vehicle taking task, a reserved vehicle storing task, an AGV vehicle charging task, a vehicle carrying plate delivering task and a vehicle carrying plate taking task in the task layer; the second layer is a task decomposition layer, the computer decomposes the task of the task layer into subtasks in the task decomposition layer, for example, a reservation vehicle taking task consists of a series of subtasks such as obtaining a license plate number, obtaining a parking position, selecting and executing a task AGV, taking a vehicle in coordination in a unit A, sending the vehicle to an outlet, paying and the like; the third layer is a subtask refinement layer, subtasks are further refined through an algorithm of a computer, information of command execution is completed, such as the number of the AGV carts to be selected is determined when the reservation of the vehicle taking task is needed, the AGV carts to be selected are designated, a selection strategy is determined, a path of the AGV carts is calculated, a coordination scheme of the AGV carts in cooperation is determined, and the like; the fourth layer is a command execution layer, the computer sends commands to the device at the layer to enable the device to execute, each command can be regarded as a complete function implementation, and the functions comprise action, target, source address and destination address, for example, an AGV car runs from the ground A to the ground B, pauses, lifts a car carrying plate, lowers the car carrying plate, can pause or apply for detours to the upper layer when being blocked, and if the commands sent by the AGV car are needed to be combined with a specific path.
(A2) Dividing the whole intelligent parking garage into four parking spaces consisting of three parallel parking spaces and one vertical parking space, as shown in fig. 2, into one unit A, wherein the parallel parking spaces refer to three parking spaces parallel to a transverse channel B in each unit A, the vertical parking spaces are parking spaces perpendicular to the transverse channel B, each intelligent parking garage at least has one transverse channel B and one longitudinal channel, other channels except the transverse and longitudinal channels directly connected with an entrance and an exit divide the whole intelligent parking garage into a plurality of garage areas, the transverse channel B is a channel perpendicular to the length direction of the garage, and the longitudinal channel is a channel parallel to the length direction of the garage.
(A3) The method is characterized in that tracks in the intelligent parking garage are clear, two tracks are arranged in each transverse longitudinal channel, other longitudinal channels except the longitudinal channel directly connected with the entrance can be used as temporary channels, only one track is arranged in the temporary channels, the temporary channels can be used as channels in traffic congestion periods, and the transportation pressure in the parking garage is reduced.
(A4) Storing and changing the objects and states of related commands, wherein the objects comprise AGV trolleys, vehicle carrying boards, parking spaces, temporary storage devices of the vehicle carrying boards and paths; the states refer to states of objects, including a trolley, a state (busy, idle, stopped), a trolley, an operating state (moving, stopped), a trolley, a vehicle-carrying state (vehicle-carrying, empty), a vehicle-carrying plate, a state (vehicle-carrying, empty), a vehicle-carrying plate, an operating state (moving, stopped), a parking space, a state (empty, selected, used), a vehicle-carrying plate temporary storage device, a state (idle, loaded, unloaded); state (idle, used, blocked).
(A5) Defining task layer tasks, decomposing the task layer tasks, and decomposing the tasks into the following subtasks:
(a) Decomposing the reserved vehicle taking task into the following steps:
(a1) Obtaining a vehicle number and a vehicle taking time from a mobile phone platform end, and putting the vehicle number and the vehicle taking time into a vehicle taking queue;
(a2) Selecting vehicles from the vehicle picking queue according to the vehicle picking time requirement, and entering into vehicle picking preparation;
(a3) The position and difficulty of the vehicle storage unit A are obtained, and the number of AGV trolleys is selected;
(a4) Selecting n AGV carts closest to the position of the target unit A to go to the position of the target unit A;
(a5) Taking out the target vehicle at the position A of the target unit by matching to obtain a driving path;
(a6) The obstacle can be avoided on the road, the AGV trolley is controlled to send the vehicle carrying plate and the vehicle to the exit, and the AGV trolley drops the vehicle carrying plate;
(a7) And giving the vehicle to the customer, and collecting the payment by scanning the code to finish the vehicle taking process.
(B) Decomposing the reserved parking task into the following steps:
(b1) Obtaining a vehicle number, recording the warehousing time, and putting the vehicle number into a vehicle parking queue;
(b2) The method comprises the steps of obtaining an idle parking space, uploading a license plate at a junction of a vehicle, verifying license plate numbers, entering a parking preparation and timing;
(b3) The method comprises the steps of obtaining a position of a vehicle storage unit A, obtaining a driving path and executing a storage task;
(b4) According to the driving path, controlling the AGV trolley to be sent to the unit A;
(b5) Entering a parking space, finishing parking, and resetting difficulty of each parking space of the unit A;
(b6) And releasing the AGV trolley to be in an idle state, adding the { idle trolley } set, and arranging an AGV trolley parking area according to a strategy.
(C) Decomposing the AGV trolley charging task into the following steps:
the AGV dolly can guarantee 24 hours incessant operation electric quantity, arranges to charge at night, or, can charge at idle time when the AGV dolly electric quantity is less than 30% to suitably increase AGV dolly quantity redundancy.
(D) Decomposing the task of carrying the vehicle board and taking the vehicle board into the following steps:
(d1) The AGV small vehicle carries the taken vehicle to enter the junction, the vehicle is driven by a driver to leave the vehicle carrying plate, and the AGV small vehicle and the vehicle carrying plate are left;
(d2) As shown in fig. 3, judging the going of the trolley and the vehicle carrying plate, if the following vehicle storing task is also the vehicle taking task, firstly executing the vehicle storing task by using the AGV trolley and the vehicle carrying plate which are left at the junction; if no parking task exists next, but the subsequent vehicle taking task needs to occupy the junction, the position of the subsequent vehicle taking task needs to be vacated, and the AGV trolley is scheduled to send the vehicle carrying plate to the vehicle carrying plate temporary storage device for carrying plate storage operation; if the vehicle taking task is not available, only the vehicle storing task is available, the AGV trolley needs to be scheduled to go to the vehicle carrying board temporary storage device to take the vehicle carrying board, and the vehicle carrying board is lifted to enter the vehicle storing junction to wait for the next vehicle to be stored.
(D3) As shown in fig. 4, the execution of the board storage and taking tasks of the board temporary storage device is scheduled, when the board taking task exists, if the board temporary storage device is empty, the board temporary storage device enters an idle waiting state until the board storage task exists, if the board temporary storage device is not empty, the board taking task is executed, and the number of boards owned by the board temporary storage device is reduced by 1; when the board storage task exists, if the board carrying temporary storage device is full, the board carrying temporary storage device enters an idle waiting state until the board taking task exists, and if the board carrying temporary storage device is not full, the board storage task is executed and the number of boards owned by the board carrying temporary storage device is increased by 1.
(A6) Defining subtask refinement layer and making the following strategies for realization of subtasks:
(e) The value of "vehicle.difficulty" is obtained by the difficulty in vehicle access, when the vehicle is stored in the unit A, the value of "vehicle.difficulty" is initialized to be 1, the storage position of the vehicle in the unit A is represented by "vehicle.position", as shown in figure 2, parallel parking spaces in one unit A are numbered 1,2 and 3 from inside to outside, the number of a vertical parking space is 4, if the "vehicle.position" is 2, the value of "vehicle.difficulty" of the vehicle with the unit A "vehicle.position" of 1 is added with 1, and if the "vehicle.position" is 3, the value of "vehicle.difficulty" with the unit A "vehicle.position" of 1 or 2 is added with 1.
(F) The distance between the idle trolley and the vehicle taking position is calculated, and a Manhattan distance formula is used for calculating the distance from the AGV trolley on any node to any unit A in the embodiment, and the method is low in accuracy, simple in algorithm and quick in calculation.
(G) The number of AGV carts is selected to assist, the number of carts to be dispatched can be obtained through 'vehicle.difficulty', the corresponding nearest idle AGV cart set is obtained through the distance sequencing of idle AGV carts and the cart taking positions, and if vehicles are blocked outside the cart to be taken, the vehicles blocked outside need to be moved out firstly, so that tasks can be completed.
(H) As shown in fig. 5, the taking of a vehicle in unit a comprises the steps of:
(h1) The method comprises the steps of obtaining coordinates of a vehicle taking position, calculating the number of auxiliary vehicles, if the number of the auxiliary vehicles is 1, dispatching the vehicles to enter a vehicle taking parking space, lifting a vehicle carrying plate and a vehicle leaving unit A, and finishing vehicle taking;
(h2) If the number of the auxiliary trolley is not 1, allowing the trolley b to enter an auxiliary parking space, wherein the auxiliary parking space refers to a parking space for blocking the parking space of the picking up vehicle, if a nearby unit A has a vacancy, allowing the trolley b to lift a vehicle carrying plate and a vehicle on the auxiliary parking space to enter the nearby unit A, allowing the trolley a to enter the picking up vehicle and lift the vehicle carrying plate and the vehicle to leave the unit A, if the nearby unit A does not have the vacancy, allowing the trolley b to lift the vehicle carrying plate and the vehicle of the assisting unit A to enter a parking space and lift the vehicle carrying plate and the vehicle to leave the unit A, and if the trolley is still in the parking space at the moment, allowing the trolley on the parking space to return to the original unit A and returning the lifted vehicle to the original unit A, and completing the picking up of the vehicle when the parking space is returned, wherein the picking up of the vehicle is completed, if the trolley is just the vehicle with the parking space of the number 1, and the vehicles with the parking positions of the numbers 1,2 and 3 are respectively parked in the parking spaces of the AGVs, and the parking vehicles with the number 3 and the parking spaces of the parking vehicles on the opposite passage are reserved on one side; if the vehicle is just a vehicle with the No. 2 parking space, two AGV trolleys are adjusted to be respectively put into a warehouse with the No. 2 parking space and a warehouse with the No. 3 parking space, so that the AGV trolleys move the vehicle with the No. 3 parking space to the opposite passage for waiting, and after the No. 2 trolley is moved, the No. 3 AGV trolleys are put into the warehouse.
(H3) The vehicle taking sequence is determined according to the reservation time of a user, the reservation is divided into time periods 1, 2, 3 and 4, and the vehicle taking sequence principle in the first reservation time period is as follows: vehicles with the 3 # and the 4 # are the first reservation priority, vehicles with the 1 # and the 2 # are the secondary reservation priority, the sequence of taking the vehicles is ordered according to the distance from the parking space to the exit, and the order of the distance is the front. In the reservation time periods 2, 3 and 4, the sequencing principle of taking vehicles is as follows: the method comprises the steps that a 3-number and 4-number library positions and the original 2-number vehicles in a unit A reserved with the 3-number in a first time period, the 3-number and 2-number reserved original 1-number vehicles are first reserved priorities, blocked vehicles are second reserved priorities, and the sequence of taking the vehicles is ordered according to the distance between the vehicle position and an entrance, and the distance between the vehicle position and the entrance is the front.
(I) When the storage is carried out in the unit A, the storage is carried out according to the sequence of the 1 or 4bit and the 2 or 3 bit, and the average number of the vehicle positions is obtained to be distributed to each unit A as evenly as possible.
(A7) The method comprises the steps that the use of path nodes is standardized at a command execution layer, a garage is formed by a plurality of path nodes, in order to avoid collision, before entering the next path, the path needs to be judged whether to be usable or not at the nodes, when the path and the nodes are used, a use state needs to be set, and after the use is finished, the use state needs to be cleared; when two AGV dolly are in opposite directions, can in meeting node department, the unavailable state of next node route appears, borrow the AGV dolly of road and should initiatively dodge, empty AGV dolly should initiatively dodge, is following two kinds of routes that the computer was deposited:
(j) The entrance and exit positions and the library position information form two starting points of a path, and the entrance and exit path is only the inversion of the starting points.
(J1) The longitudinal channel of the passageway reaches the rail intersection of each transverse channel B, the intersection reaches the warehouse-in intersection through the transverse channel B, the warehouse-in intersection transversely moves for warehouse-in, the intersection reaches the warehouse-in intersection to stop stably, and the vehicle is put down.
(J2) The first transverse channel B of the entrance and the exit reaches the transverse and longitudinal intersections, the transverse and longitudinal intersections are transversely moved into the intersections of the transverse channels B, the transverse channels B are longitudinally moved to the warehouse-in intersections, and the warehouse-in intersections are transversely moved to warehouse-in.
In this embodiment, in order to avoid excessive congestion during taking and storing vehicles, the garage entrance should be changed as large as possible so that multiple vehicles can enter and exit at the entrance. The position of the passageway relative to the garage is different, so that the passageway can split in three directions, at least two directions, and a longitudinal passageway and a transverse passageway B are provided for splitting. If the three-direction split is realized, namely two transverse channels B and one longitudinal channel, the garage can be divided into four parts, and the inlet transverse channel B turns into one longitudinal channel for dividing 1/4 of the garage. The right (left) side of the longitudinal channel is a part, and the corresponding other longitudinal channel for dividing the garage 1/4 is a part. The left and right parts of the inlet longitudinal channel; if there is a two-way split, i.e., one longitudinal channel and one transverse channel B (the longitudinal channel is on the garage side), the garage is split into two parts. The longitudinal channel is one part on the left (right) side. The first transverse channel B turns into a longitudinal channel dividing the garage 1/2 to form a part on the left (right) side. Each part of the garage operates independently to access the vehicle service. The longitudinal passage vehicles intersecting the doorway move longitudinally, and the longitudinal passage vehicles not intersecting the doorway move laterally. The longitudinal channels which run to the intersection of the entrances and the transverse channels B which intersect with the entrances have two conditions of a turning large bend and a turning small bend. The longitudinal passageway of the passageway has two tracks, divided into a near passageway track and a far passageway track, and the transverse passageway B has two tracks, divided into a near passageway track and a far passageway track. Turning a corner refers to turning from a longitudinal far garage rail to a transverse far doorway rail and vice versa. The geometric center of the AGV trolley with the longitudinal far warehouse rail reaches the intersection of the longitudinal far warehouse rail and the transverse far entrance rail, and the AGV trolley transversely moves to the intersection of the central line of the longitudinal channel and the transverse far entrance rail, rotates in situ for 90 degrees and longitudinally runs along the transverse rail; on the contrary, the intersection of the central line of the transverse channel B to the longitudinal channel and the transverse far entrance and exit track rotates for 90 degrees in situ, and the intersection of the longitudinal far warehouse track and the transverse far entrance and exit track transversely moves longitudinally along the longitudinal track. Turning a small curve refers to turning from a longitudinal near-warehouse track to a transverse near-entrance track and vice versa. The geometric center of the AGV reaches the intersection of the longitudinal near-warehouse rail and the transverse near-entrance rail, rotates in situ by 90 degrees and runs longitudinally along the transverse or longitudinal rail. In both cases, the operation of in-situ rotation by 90 degrees, longitudinal movement and transverse movement is carried out, and a longitudinal channel which does not intersect with an entrance and an exit enters and exits a transverse channel B and is only changed from transverse (longitudinal) movement to longitudinal (transverse) movement, wherein the longitudinal channel has only one track groove in the middle, and two intersections are formed between the longitudinal channel and two track grooves of the transverse channel B at the intersection positions of the longitudinal channel and the transverse channel B.
In the embodiment, the warehouse-in vehicles on the longitudinal passageway of the entrance and the exit are borne by the AGV trolley and longitudinally run along the longitudinal passageway track, the vehicles near the longitudinal passageway of the warehouse are borne by the AGV trolley and implement turning small-bending operation on the appointed transverse passageway B track, enter the transverse track to run to the crossing point of the transverse track and the parking space guiding groove to stop, and transversely move until the parking space accurately stops; and the vehicle of the far-warehouse longitudinal rail is borne by the AGV trolley to stop at the cross intersection of the designated transverse channel B rail and the longitudinal rail guide groove, the turning large-bending operation is implemented, the vehicle enters the transverse rail to run to the cross point of the transverse rail and the parking space guide groove to stop, the transverse movement operation is carried out, and the transverse movement is carried out until the parking space accurately stops. The warehouse-in vehicle on the first transverse channel B at the entrance and the exit is borne by the AGV trolley and longitudinally runs along the track of the transverse channel B, and is stopped at the cross intersection of the non-entrance longitudinal channel and the track guiding groove of the first transverse channel B, so as to implement the transverse movement operation, and is stopped at the cross intersection of the designated transverse channel track and the longitudinal track guiding groove, so as to implement the longitudinal movement operation, and is stopped at the cross intersection of the transverse track and the parking space guiding groove, so as to implement the transverse movement operation, and is accurately parked at the parking space; vehicles on the other longitudinal lane of the first transverse lane B are carried by the AGV trolley and are sequentially interleaved into the longitudinal lanes. The dispatching system can arrange closer parking spaces to be carried by the near-warehouse longitudinal channel, can arrange farther parking spaces to be carried by the far-warehouse longitudinal channel, and reduces the influence of waiting for the idle of the near-warehouse longitudinal channel and blocking the near-warehouse longitudinal channel in turning operation as much as possible.
When the target parking space is a parallel parking space, if the AGV trolley enters the warehouse from the longitudinal passage of the entrance, the AGV trolley is far from near to far to form a warehouse entering cycle, and the far transverse passage B is borne by the longitudinal passage of the far warehouse; the proximal transverse channel B is assumed by the proximal reservoir longitudinal channel; if the AGV trolley enters the warehouse from the first transverse passage B of the entrance, vehicles on the two rails longitudinally move, stop at the longitudinal passage intersection of the fragments and transversely move in the longitudinal passages, and reach each transverse passage B, longitudinally move to the warehouse intersection in each transverse passage B and transversely move for warehouse entering.
In this embodiment, to the centralized access car condition, the operation direction of each partial load AGV dolly of garage is single, does not have the empty AGV dolly of vehicle jam phenomenon to use in the storehouse as the passageway, when needing to be on transverse passageway B when reversing load vehicle operation direction operation, utilizes the double track to stagger, and empty AGV dolly dodges into parallel parking stall when meeting and lets the line.
In this embodiment, since many tasks are performed in parallel, a task request to an app requires a server to process separately; for each task of taking, storing and charging, a queue is required to be used for processing, and when the task is executed specifically, a thread is required to be used for processing independently; for each type of task processing, such as the task of nearest distance calculation, coordination of unit a and vehicle taking, a special CPU is also needed for processing, so that in this embodiment, a computer system with a multi-core CPU and high-frequency computing capability is needed to complete a complex multi-task control system, so as to achieve the requirements of reducing delay and improving response speed.
Wherein the specific workflow comprises the following steps:
(B1) The user inputs vehicle information to reserve parking through the mobile phone platform, the intelligent control system reserves parking spaces, the parking is selectively confirmed in the mobile phone platform, and the intelligent control system allocates and stores the parking spaces; or the user inputs the vehicle related information through the mobile phone service platform to reserve parking, then the parking space is directly selected, and the mobile phone service platform transmits the selected parking space to the intelligent management control system for storage;
(B2) The intelligent control system judges whether an AGV trolley is required to be conveyed to a junction between an entrance and a exit according to information input on a mobile phone platform of a user, after the user conveys the vehicle to the junction of the intelligent parking garage, a worker stops the vehicle on the vehicle carrying plate so that the front two tires of the vehicle enter a tire limiting pit until the vehicle is completely stopped stably, and a hand brake is pulled up to prepare the vehicle for warehouse entry;
(B3) The intelligent control system acquires the charging requirement of a user through the mobile phone platform, if the vehicle has the charging requirement, a worker is reminded to take a connecting component and a switching component, the connecting component is formed by connecting a charging gun, a connecting wire and a plug in sequence, the switching component is formed by connecting a first socket and a second socket electrically and is fixed on a panel, the switching component can be clamped on a vehicle carrying board through a clamping interface arranged on the vehicle carrying board, the worker clamps the switching component on the clamping interface of the vehicle carrying board, the charging gun at one end of the connecting component is inserted into a vehicle charging port, and the plug at the other end of the connecting component is inserted into the first socket, so that the vehicle is ready for charging;
(B4) After calculation of an intelligent control system, generating target parking space position information, wherein the generated position information contains a unit A where a target parking space is located and a parking space number, the intelligent control system dispatches an AGV trolley to transport vehicles on a vehicle carrying plate and the vehicle carrying plate to a designated parking space in a parking garage through transverse and longitudinal running and mutual switching according to the position information, so that the AGV trolley follows a parking rule in a parking process, stores vehicles according to the sequence of 1 or 4 bits and 2 or 3 bits, and arranges the vehicles with charging requirements to a special charging parking space for parking, if the parking space except for a temporary storage device of the vehicle carrying plate and a temporary channel in the parking garage is full, the vehicles are parked on the parking space arranged in the temporary lane, and if the temporary channel is full, the vehicles are parked on the parking space of the unit A where the temporary storage device of the vehicle carrying plate is located; the intelligent control system controls the AGV trolley to enable the vehicle carrying plate to fall to the ground through a lifting device on the trolley, controls the AGV trolley to leave a storage position after the vehicle carrying plate falls to the ground, judges the direction of the empty AGV trolley according to information received from the mobile phone platform, and the empty AGV trolley enters a certain storage position to wait or store the trolley according to a command issued by the intelligent control system;
(B5) After a vehicle with a charging requirement is parked in a special charging parking space, the intelligent control system enables a charging pile wiring plug connected with the charging pile to be inserted into a second socket clamped on a vehicle carrying board by controlling an industrial personal computer on the charging pile, the intelligent control system can make a decision when the charging pile is instructed to start charging according to the charging requirement of the vehicle, after the charging is completed, the charging pile wiring plug connected with the charging pile is pulled out of the second socket, if the charging parking space is parked but the vehicle which is not charged is still present, the intelligent control system controls the charged vehicle to move to a storage position without the charging pile, so that the vehicle to be charged can move into the storage position for charging;
(B6) The intelligent control system calculates according to the current transportation condition of the garage, so that vehicles can reach the junction of the entrance and the exit in time at the time of taking vehicles reserved by a user, the specific time of taking each vehicle out of the garage is given on the mobile phone platform, when the vehicles are taken, the intelligent control system controls the AGV trolley to lift the vehicle carrying plate through the lifting component under the vehicle carrying plate of the vehicles needing to be taken away, the vehicle carrying plate and the vehicles on the vehicle carrying plate are conveyed to the exit of the garage, the AGV trolley follows the step of taking the vehicles in the process of taking the vehicles, the user drives the vehicles out of the garage, and the connecting component and the switching component are taken away for charged vehicles and staff;
(B7) The intelligent control system regulates and controls the AGV trolley to send the vehicle carrying plate to the temporary storage device of the vehicle carrying plate or store the vehicle according to the requirement of the follow-up vehicle storing and taking task.
Example 2
The existing self-driving warehouse-in small-sized vehicle parking space unit A is 5100mm long and 2400mm wide, the channel width is 5500mm, three vehicles are vertically parked between two upright posts and the transverse channel B, namely three vehicles are parked on the 5100X 7200mm garage area; the mechanical warehouse-in small-sized vehicle parking space unit A is 5100mm long and 1900mm wide, and the channel width is 5500mm.
The intelligent garage that this embodiment relates to takes three perpendicular parking stalls that ground area 5100mm multiplied 7200mm formed between the stand of self-driven warehouse entry small-size garage, and the current garage of passway width 5500mm is exemplified, changes into intelligent garage parking stall's close-packed scheme: the channel perpendicular to the long direction of the garage is a transverse channel B, the channel parallel to the long direction of the garage is a longitudinal channel, and three parking spaces 5100X 5700mm parallel to the transverse channel B are densely arranged in an area of 5100mm (perpendicular to the transverse channel B) of the original parking space length and 7200mm of the total width length of the three parking spaces. The total width of three parking spaces is 5700mm, wherein the occupied passage is 600mm, and the three parking spaces are called parallel parking spaces. One side of the parallel parking space is provided with a parking space with the length of 5100mm, the transverse passage B and the width of 2100mm, which is called a vertical parking space. The parking spaces on two sides of the upright post are in the same form, namely, the two sides of the upright post are parallel parking spaces or vertical parking spaces, and a unit A opposite to the unit A on the other side of the transverse channel B is also arranged. Assuming a column cross width of 800mm, the channel forms a channel segment of both 11000mm long 4300mm wide and 5000mm long 5500mm wide. The clear width of the entire channel was 4300mm. Because the intelligent parking garage related to the embodiment is an intelligent car moving, a bidirectional track channel is designed for a 4300mm wide channel, and other longitudinal channels except for longitudinal channels at an entrance and an exit can be changed into parallel parking spaces, and the longitudinal channels changed into parallel parking spaces are called temporary channels.
The intelligent car that this embodiment relates to has adopted and has carried sweep car, AGV dolly to move the mode of car, carries sweep four angles to have four legs to support and carries sweep face, and the vehicle is stopped on carrying sweep, and the AGV dolly can vertically travel, turns through the rotation in place mode, and the AGV dolly can transversely also vertically drive into and carry sweep below, and the elevating gear of AGV dolly lifts and carries sweep transfer vehicle.
The temporary storage device for the vehicle carrying board is used for providing the vehicle carrying board when the vehicle enters the garage, solving the problem that the vehicle carrying board is located after the vehicle leaves the garage, and being used as a parking space when the parking space in the parking garage is full. The temporary storage device of the vehicle carrying board is arranged near the junction of the access vehicle and cooperates with the junction vehicle to work. And setting the quantity of the stock units A according to the proportion, so that the quantity of the stock units A can store vehicle carrying boards corresponding to all parking spaces in the garage.
Because the temporary storage device of the vehicle carrying board can be stored as a parking space in a smaller vehicle, such as a vehicle with the length of not more than 4600mm, the parking space at the temporary storage device of the vehicle carrying board is firstly subjected to idle treatment so as to ensure that the vehicle carrying board left after the vehicle is discharged from the garage can be stored in the temporary storage device of the vehicle carrying board, and the vehicles at the temporary storage device of the vehicle carrying board are required to be placed on a discharging channel for the first time. In a second order, vehicles are placed on a longitudinal aisle dividing the parking garage into two parts, which longitudinal aisle is left empty as aisle during the vehicle access. When the vehicle is stored in a centralized way, after each garage position is full, the channel is used as a parking space, and after the channel is full, the temporary storage device of the vehicle carrying plate is used as the parking space again, so that when the vehicle is parked on the parking space of the channel, a vehicle owner can be contracted in advance to obtain the permission of taking the vehicle out of the garage in advance, and the vehicle owner can communicate with the vehicle owner to leave a vehicle key at a garage entrance and exit duty room, and under the condition that the vehicle owner cannot take the vehicle away in advance, the garage has the right to take the vehicle out of the garage. The two conditions do not affect the large-area normal reservation delivery arrangement.
Four sides of the guiding component at the center of the AGV trolley body are respectively embedded with a light intensity detector, and the illuminating lamp is arranged at the lower part of the frame, so that the light intensity detector detects that the light intensity in the guiding groove is large along the direction of the groove, the light intensity in the direction of the groove wall is small, and the light intensity in the four directions of the intersection of the guiding groove is large, thereby realizing accurate parking of the AGV trolley.

Claims (5)

1. An intelligent garage automatic control method is characterized in that: including two aspects of computer scheduling and specific workflow:
all the car carrying board temporary storage devices, the AGV trolley and the charging piles in the intelligent parking garage are provided with industrial personal computers, the car carrying board temporary storage devices are used for providing car carrying boards when vehicles enter the garage, solving the problem that the car carrying boards go away after the vehicles leave the garage, and being used as parking spaces normally when the parking spaces in the parking garage are full, and the car carrying board temporary storage devices are arranged near the junction of the access vehicles and work in cooperation with the junction vehicles; an intelligent control system is formed by combining an industrial personal computer and a computer of each device, and the computer scheduling aspect is completed by the intelligent control system, wherein the computer scheduling aspect comprises the following steps:
(A1) The tasks received by the whole intelligent control system are processed in a layering manner in the computer, and the tasks are divided into four layers: the first layer is a task layer, and the computer divides the task into a reserved vehicle taking task, a reserved vehicle storing task, an AGV vehicle charging task, a vehicle carrying plate delivering task and a vehicle carrying plate taking task in the task layer; the second layer is a task decomposition layer, and the computer decomposes the task of the task layer into subtasks at the task decomposition layer; the third layer is a subtask refinement layer, further refines subtasks through an algorithm of a computer, and information of command execution is completed; the fourth layer is a command execution layer, the computer sends out a command to the device at the command execution layer to enable the device to execute, and if the command is sent out by the AGV trolley, the command is required to be combined with a specific path;
(A2) Dividing the whole intelligent parking garage, namely dividing four parking spaces formed by three parallel parking spaces and one vertical parking space into a parking unit, wherein the parallel parking spaces refer to three parking spaces parallel to a transverse channel in each parking garage unit, the vertical parking spaces are parking spaces perpendicular to the transverse channel, each intelligent parking garage at least comprises one transverse channel and one longitudinal channel, other channels except the transverse and longitudinal channels directly connected with an entrance and an exit divide the whole intelligent parking garage into a plurality of storage areas, the transverse channels are channels perpendicular to the length direction of the garage, and the longitudinal channels are channels parallel to the length direction of the garage;
(A3) The method comprises the steps that tracks in the intelligent parking garage are defined, two tracks are arranged in each transverse and longitudinal channel, other longitudinal channels except the longitudinal channel directly connected with an entrance can be used as temporary channels, only one track is arranged in each temporary channel, the temporary channels can be used as channels in traffic congestion periods, and the transportation pressure in the parking garage is reduced;
(A4) Storing and changing the objects and states of related commands, wherein the objects comprise AGV trolleys, vehicle carrying boards, parking spaces, temporary storage devices of the vehicle carrying boards and paths; the states refer to states of objects, including a trolley, a state (busy, idle, stopped), a trolley, an operating state (moving, stopped), a trolley, a vehicle-carrying state (vehicle-carrying, empty), a vehicle-carrying plate, a state (vehicle-carrying, empty), a vehicle-carrying plate, an operating state (moving, stopped), a parking space, a state (empty, selected, used), a vehicle-carrying plate temporary storage device, a state (idle, loaded, unloaded), a path, a state (idle, used, blocked);
(A5) Defining task layer tasks and decomposing the task layer tasks into subtasks, including:
(a) Decomposing the reserved vehicle taking task into the following steps:
(a1) Obtaining a vehicle number and a vehicle taking time from a mobile phone platform end, and putting the vehicle number and the vehicle taking time into a vehicle taking queue;
(a2) Selecting vehicles from the vehicle picking queue according to the vehicle picking time requirement, and entering into vehicle picking preparation;
(a3) Obtaining the position and difficulty of a vehicle storage unit, and selecting the number of AGV trolleys;
(a4) Selecting n AGV carts closest to the target unit position to go to the target unit position;
(a5) Taking out the target vehicle at the target unit position through matching to obtain a driving path;
(a6) The obstacle can be avoided on the road, the AGV trolley is controlled to send the vehicle carrying plate and the vehicle to the exit, and the AGV trolley drops the vehicle carrying plate;
(a7) Giving the vehicle to a customer, and completing the vehicle taking process;
(b) Decomposing the reserved parking task into the following steps:
(b1) Obtaining a vehicle number, recording the warehousing time, and putting the vehicle number into a vehicle parking queue;
(b2) The method comprises the steps of obtaining an idle parking space, uploading a license plate at a junction of a vehicle, verifying license plate numbers, entering a parking preparation and timing;
(b3) Obtaining the position of a vehicle storage unit, obtaining a driving path and executing a storage task;
(b4) Controlling the AGV trolley to be sent to a storage unit according to the driving path;
(b5) Entering a parking space, finishing parking, and resetting the difficulty of each parking space of the unit;
(b6) Releasing the AGV trolley to be in an idle state, adding a { idle trolley } set, and arranging an AGV trolley parking area according to a strategy;
(c) Decomposing the AGV trolley charging task into the following steps:
(c1) The AGV trolley can guarantee 24 hours of uninterrupted operation electric quantity, is charged at night, or can be charged in idle time when the electric quantity of the AGV trolley is lower than 30%, and the number redundancy of the AGV trolley is properly increased;
(d) Decomposing the task of carrying the vehicle board and taking the vehicle board into the following steps:
(d1) The AGV small vehicle carries the taken vehicle to enter the junction, the vehicle is driven by a driver to leave the vehicle carrying plate, and the AGV small vehicle and the vehicle carrying plate are left;
(d2) Judging the directions of the trolley and the vehicle carrying plate, and if a vehicle storing task and a vehicle taking task exist next, executing the vehicle storing task by using the AGV trolley and the vehicle carrying plate which are left at the junction; if no parking task exists next, but the subsequent vehicle taking task needs to occupy the junction, the position of the subsequent vehicle taking task needs to be vacated, and the AGV trolley is scheduled to send the vehicle carrying plate to the vehicle carrying plate temporary storage device for carrying plate storage operation; if the vehicle taking task is not available, only the vehicle storing task is available, the AGV trolley is required to be scheduled to go to the vehicle carrying board temporary storage device to take the vehicle carrying board, and the vehicle carrying board is lifted to enter the vehicle storing junction to wait for the next vehicle to be stored;
(d3) Scheduling execution of a board storage task and a board taking task of the car carrying board temporary storage device, when the board taking task exists, if the car carrying board temporary storage device is empty, enabling the car carrying board temporary storage device to enter an idle waiting state until the board storage task exists, and if the car carrying board temporary storage device is not empty, executing the board taking task and subtracting 1 from the number of boards owned by the car carrying board temporary storage device; when the board storage task exists, if the board carrying temporary storage device is full, the board carrying temporary storage device enters an idle waiting state until the board taking task exists, and if the board carrying temporary storage device is not full, the board storage task is executed and the number of boards owned by the board carrying temporary storage device is increased by 1;
(A6) Defining subtask refinement layers and making policies for realization of subtasks, including:
(e) The method comprises the steps of obtaining a value of 'vehicle.difficulty' through the difficulty of vehicle access, initializing 'vehicle.difficulty' when the vehicle is stored in a unit, wherein the position of the vehicle stored in the unit is denoted by 'vehicle.position', the number of parallel parking spaces in one storage unit is 1,2 and 3 from inside to outside, the number of vertical parking spaces in one storage unit is 4, if the 'vehicle.position' is 2, the value of 'vehicle.difficulty' of the vehicle with the same unit 'vehicle.position' is 1 is added with 1, if the 'vehicle.position' is 3, and the 'vehicle.difficulty' of the same unit 'vehicle.position' is 1 or 2 is added with 1;
(f) Calculating the distance between the idle trolley and the vehicle taking position;
(g) Selecting the number of AGV carts to assist, wherein the number of carts to be dispatched can be obtained through 'vehicle and difficulty', and the corresponding nearest idle AGV cart set is obtained through the distance sequencing of idle AGV carts and the vehicle taking position, and if the vehicles outside the vehicle to be taken are blocked, the vehicles blocked outside need to be moved out firstly, so that the task can be completed;
(h) Taking a vehicle in a unit comprises the following steps:
(h1) The method comprises the steps of obtaining coordinates of a vehicle taking position, calculating the number of auxiliary vehicles, if the number of the auxiliary vehicles is 1, dispatching the vehicles to enter a vehicle taking parking space, lifting a vehicle carrying plate and a vehicle leaving unit, and finishing vehicle taking;
(h2) If the number of the auxiliary trolleys is not 1, enabling the trolley b to enter an auxiliary parking space, wherein the auxiliary parking space refers to a parking space for blocking the parking space of the picking up vehicle, if the adjacent unit is provided with a vacancy, enabling the trolley b to lift the carrying plate and the vehicle on the auxiliary parking space to enter the adjacent unit, enabling the trolley a to enter the picking up vehicle and lift the carrying plate and the vehicle on the auxiliary unit to enter a pause parking space, enabling the trolley a to enter the picking up vehicle and lift the carrying plate and the vehicle to leave the unit, and if the trolley is in the pause parking space at the moment, enabling the trolley on the pause parking space to return to the original unit and placing the lifted vehicle back to the original unit, and if the adjacent unit is provided with a vacancy, completing the picking up vehicle, and if the picking up vehicle is in the parking space of the 1, adjusting three trolleys, respectively warehousing the 1,2 and 3,2 to the opposite passage and one side of the passage, waiting, and after the vehicle on the 1, the 3 and 3 th parking space are reserved, and warehousing are carried out according to the parking space; if the vehicle is just a vehicle with the No. 2 parking space, two AGV trolleys are adjusted to be respectively put into a warehouse with the No. 2 parking space and a warehouse with the No. 3 parking space, so that the AGV trolleys move the vehicle with the No. 3 parking space to the opposite passage for waiting, and after the No. 2 trolley is moved, the No. 3 AGV trolleys are put into the warehouse;
(h3) The vehicle taking sequence is determined according to the reservation time of a user, the reservation is divided into time periods 1, 2, 3 and 4, and the vehicle taking sequence principle in the first reservation time period is as follows: vehicles with the 3 th and the 4 th bits are the first reservation priority, vehicles with the 1 st and the 2 nd bits are the secondary reservation priority, the sequence of taking the vehicles is ordered according to the distance from the parking space to the exit, and the order of the distance is in front; in the reservation time periods 2, 3 and 4, the sequencing principle of taking vehicles is as follows: the method comprises the steps that a 3-number and 4-number garage position exists, vehicles with the original number 2 in a parking unit reserved with the number 3 in a first time period, vehicles with the original number 1 reserved with the number 3 and the number 2 are first reserved priorities, blocked vehicles are second reserved priorities, the sequence of taking the vehicles is ordered according to the distance between the vehicle position and an entrance, and the distance between the vehicle position and the entrance is far and near, and the vehicles with the number 2 and the original number 1 reserved with the number 3 are arranged in the front;
(i) When the vehicle is stored in the unit, the vehicle is stored according to the sequence of storing the 1 or 4 bit and then storing the 2 or 3 bit, and the average vehicle number is obtained to be distributed to each unit as evenly as possible;
(A7) The method comprises the steps that the use of path nodes is standardized at a command execution layer, a garage is formed by a plurality of path nodes, in order to avoid collision, before entering the next path, the path needs to be judged whether to be usable or not at the nodes, when the path and the nodes are used, a use state needs to be set, and after the use is finished, the use state needs to be cleared; when two AGV dolly are in opposite directions, can in meeting node department, the unavailable state of next node route appears, borrow the AGV dolly of road to dodge voluntarily, empty AGV dolly should dodge voluntarily, intelligent control system deposit the AGV dolly route at the computer.
2. The automatic control method of an intelligent parking garage according to claim 1, wherein: the computer-stored paths in the step (A7) are two, and the method comprises the following steps:
(j) The entrance and exit positions and the library position information form two starting points of a path, and the library entering and exiting path is only the inversion of the starting points;
(j1) The longitudinal channel of the passageway reaches the rail intersection of each transverse channel, the intersection reaches the warehouse-in intersection through the transverse channel, the warehouse-in intersection transversely moves for warehouse-in, the intersection reaches the warehouse-in intersection to stop stably, and the vehicle is put down;
(j2) The first transverse channel of the passageway reaches the transverse and longitudinal intersections, the transverse and longitudinal intersections transversely move into the transverse channel intersections, the transverse channel longitudinally moves to the warehouse-in intersections, and the warehouse-in intersections transversely move into warehouse.
3. The automatic control method of an intelligent parking garage according to claim 1, wherein: the specific workflow comprises the following steps:
(B1) The user inputs vehicle information to reserve parking through the mobile phone platform, the intelligent control system reserves parking spaces, the parking is selectively confirmed in the mobile phone platform, and the intelligent control system allocates and stores the parking spaces; or the user inputs the vehicle related information through the mobile phone service platform to reserve parking, then the parking space is directly selected, and the mobile phone service platform transmits the selected parking space to the intelligent management control system for storage;
(B2) The intelligent control system judges whether an AGV trolley is required to be conveyed to a junction between an entrance and a exit according to information input on a mobile phone platform of a user, after the user conveys the vehicle to the junction of the intelligent parking garage, a worker stops the vehicle on the vehicle carrying plate so that the front two tires of the vehicle enter a tire limiting pit until the vehicle is completely stopped stably, and a hand brake is pulled up to prepare the vehicle for warehouse entry;
(B3) The intelligent control system acquires the charging requirement of a user through the mobile phone platform, and if the vehicle has the charging requirement, the intelligent control system reminds a worker to connect the vehicle with the charging pile so that the vehicle is ready for charging;
(B4) After calculation of an intelligent control system, generating target parking space position information, wherein the generated position information contains a unit where a target parking space is located and a parking space number, the intelligent control system schedules an AGV trolley to transport vehicles on a vehicle carrying plate and the vehicle carrying plate to a designated parking space in a parking garage through transverse and longitudinal running and mutual switching according to the position information, so that the AGV trolley follows a parking rule in a parking process, stores vehicles according to the sequence of 1 or 4 bits and 2 or 3bits, and arranges the vehicles with charging requirements to a special charging parking space for parking, if the parking space except the temporary storage plate temporary storage device and the temporary channel in the parking garage is full, the vehicles are parked on the parking space arranged in the temporary lane, and if the temporary channel is full, the vehicles are parked on the parking space of the unit where the temporary storage plate temporary storage device is located; the intelligent control system controls the AGV trolley to enable the vehicle carrying plate to fall to the ground through a lifting device on the trolley, controls the AGV trolley to leave a storage position after the vehicle carrying plate falls to the ground, judges the direction of the empty AGV trolley according to information received from the mobile phone platform, and the empty AGV trolley enters a certain storage position to wait or store the trolley according to a command issued by the intelligent control system;
(B5) After a vehicle with a charging requirement is parked in a special charging parking space, the intelligent control system enables a charging pile wiring plug connected with the charging pile to be inserted into a second socket clamped on a vehicle carrying board by controlling an industrial personal computer on the charging pile, the intelligent control system can make a decision when the charging pile is instructed to start charging according to the charging requirement of the vehicle, after the charging is completed, the charging pile wiring plug connected with the charging pile is pulled out of the second socket, if the charging parking space is parked but the vehicle which is not charged is still present, the intelligent control system controls the charged vehicle to move to a storage position without the charging pile, so that the vehicle to be charged can move into the storage position for charging;
(B6) The intelligent control system calculates according to the current transportation condition of the garage, so that vehicles can reach the junction of the entrance and the exit in time at the time of taking vehicles reserved by a user, the specific time of taking each vehicle out of the garage is given on the mobile phone platform, when the vehicles are taken, the intelligent control system controls the AGV trolley to lift the vehicle carrying plate through the lifting component under the vehicle carrying plate of the vehicles needing to be taken away, the vehicle carrying plate and the vehicles on the vehicle carrying plate are conveyed to the exit of the garage, the AGV trolley follows the step of taking the vehicles in the process of taking the vehicles, the user drives the vehicles out of the garage, and the connecting component and the switching component are taken away for charged vehicles and staff;
(B7) The intelligent control system regulates and controls the AGV trolley to send the vehicle carrying plate to the temporary storage device of the vehicle carrying plate or store the vehicle according to the requirement of the follow-up vehicle storing and taking task.
4. An intelligent parking garage automatic control method according to claim 3, characterized in that: the concrete steps of connecting the vehicle with the charging pile by the staff are as follows: the method comprises the steps of taking a connecting component and a switching component, clamping the switching component on a clamping interface of a vehicle carrying board, inserting a charging gun at one end of the connecting component into a vehicle charging port, and inserting a plug at the other end of the connecting component into a first socket.
5. The automatic control method for an intelligent parking garage according to claim 4, wherein: the connecting component is formed by sequentially connecting a charging gun, a connecting wire and a plug; the switching assembly is formed by electrically connecting a first socket and a second socket and is fixed on a panel, and can be clamped on the vehicle carrying plate through a clamping interface arranged on the vehicle carrying plate.
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